Program - Prg_<name device module>
Program Contained in the TeSysU_CANopen_Standard Device Module
The program is divided into 2 actions and is created in programming language CFC (Continuous Function Chart). Both actions will be called on each program execution.
oAction - A01_GetNodeState
oAction - A02_Ctrl_TeSysU
The program code in this action provides information on the communication state of the device on the CANopen fieldbus. Based on the communication parameter the communication state is assigned to the corresponding variables which have been declared in the GVL_<module name>. If the state is equal to OPERATIONAL, the variable for the state indicates TRUE and other cases are indicated by FALSE.
By the program code in this action the basically monitor and control functions of the device are processed with the use of the function block TeSys_CtrlCmdCyc_CANopen.
Implemented features are:
1.Control the TeSysU device for motor forward and reverse run.
2.Reset the TeSysU device.
3.Monitor the TeSysU device.
4.Additional handling of commands - reset if invalid state.
5.Filter the state of the device for simplified monitoring.
